Electro-Actuated Stacked Fin Ray Gripper: An Innovative Approach to Adaptable and Versatile Robotic Handling

Abstract

This paper presents the development of an Electro-Actuated Stacked Fin Ray Gripper, a novel design aimed at enhancing adaptability and response time in robotic object manipulation. The gripper incorporates independently conformable stacked fins crafted from soft materials, facilitating rapid and gentle grasping of objects with complex three-dimensional geometries. Actuation is achieved through solenoids, which provide swift transitions between grasp and release positions. The design and operational efficacy of the gripper have been validated through extensive simulations and experimental trials. Notably, the gripper exhibits a faster response time and adeptly handles a diverse array of objects compared to other conventional designs. This innovation significantly improves the performance of robotic systems, especially in sectors that require quick and delicate manipulation.